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You can create a systemd service for the VNC server that will allow you to enable it to be started on boot. How to do that is going to be relative in every way, but this tutorial talks about how to do it under the conditions of the tutorial:

In this guide, we will be setting up VNC on a Ubuntu 16.04 server and connecting to it securely through an SSH tunnel. The VNC server we will be using is TightVNC, a fast and lightweight remote control package. This choice will ensure that our VNC connection will be smooth and stable even on slower internet connections.